ROS 2 Action Tools Support #142
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This was referenced Oct 1, 2025
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- Be blocking and waiting for action_result or timeout. - Return action_result when action is completed. - Return the last action_feedback, if available, when timeout. - Return timeout/success:false if no action_feedback or action_result is detected. - Fixed bug with timeout input tools (no Optional)
…ted with fibonacci server.
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… in Cursor, not showing in ChatGPT.
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Ready for Review ✅ |
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Overview
This PR introduces comprehensive ROS action management tools to the MCP server, enabling full control over ROS 2 actions including discovery, execution, and cancellation.
Features Added
1. Action Tools
get_actions()- List all available ROS actionsget_action_type(action)- Get the message type for a specific actionget_action_details(action_type)- Get complete action structure (goal, result, feedback)get_action_status(action_name)- Get status of active actions (ongoing, completed, aborted)inspect_all_actions()- Comprehensive action informationsend_action_goal(action_name, action_type, goal, timeout)- Send action goals with timeout supportcancel_action_goal(action_name, goal_id)- Cancel running action goalsKey Features
1. Timeout Support
action_feedbackwhen available).action_feedbackprogress yet.)2. Goal ID Management
get_active_actionsyet).3. Error Handling
action_feedbackifaction_resulttimeouts.Test Instructions
stdio,http,pip)ros2 run action_tutorials_cpp fibonacci_action_serverWhat are the available actions, including type and details?Start the fibonacci action, with order 5 and timeout 10and look for progress bar (Cursor UI)What's the status of the station?Start the fibonacci action, with order 20 and timeout 2Cancel the fibonacci actionStart actionwithout launching the serverError calling tool 'get_actions': 'str' object has no attribute 'get'Future Enhancements
Related Issues
action_feedbacksupport!)Ready for Review ✅